Decentralized adaptive terminal sliding mode control design for nonlinear connected system in the presence of external disturbance

Abstract

SummaryIn this article, a decentralized adaptive integral terminal sliding mode control is presented for a class of nonlinear connected systems. It is assumed that the system is also confronted by unknown disturbances, while the interconnections between subsystems are assumed unknown. An integral terminal sliding surface for each subsystem is locally considered to guarantee the stability of the closed‐loop system, and to increase the convergence speed during a tracking task. The unknown interconnections between subsystems are estimated using adaptive rules. An appropriate Lyapunov candidate is chosen to perform global stability analysis. In this regard, design parameters are chosen such that the closed‐loop stability is ensured. Performance of the proposed method for a mechanical connected system, including two chaotic subsystems, is shown through simulations.